U.S. patent application number 17/550181 was filed with the patent office on 2022-06-30 for actuator system for an optical system of an endoscope and optical system for an endoscope.
This patent application is currently assigned to OLYMPUS Winter & Ibe GmbH. The applicant listed for this patent is OLYMPUS Winter & Ibe GmbH. Invention is credited to Uwe SCHOELER, Martin WIETERS.
Application Number | 20220202282 17/550181 |
Document ID | / |
Family ID | 1000006064100 |
Filed Date | 2022-06-30 |
United States Patent
Application |
20220202282 |
Kind Code |
A1 |
WIETERS; Martin ; et
al. |
June 30, 2022 |
ACTUATOR SYSTEM FOR AN OPTICAL SYSTEM OF AN ENDOSCOPE AND OPTICAL
SYSTEM FOR AN ENDOSCOPE
Abstract
An actuator system for use in an optical system of an endoscope.
The actuator system including: at least one actuator; and a holder
for receiving at least one optical element of the optical system,
the holder is configured to be flat and extends in a holder plane.
The holder including: an outer enclosure; a leaf spring; and an
inner platform. Wherein the outer enclosure at least partially
surrounds the leaf spring and the leaf spring at least partially
surrounds the inner platform, the outer enclosure is elastically
coupled to the inner platform via the leaf spring, the inner
platform is configured to receive the optical element, and the at
least one actuator interacts with the inner platform.
Inventors: |
WIETERS; Martin;
(Barsbuettel, DE) ; SCHOELER; Uwe; (Hoisdorf,
DE) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
OLYMPUS Winter & Ibe GmbH |
Hamburg |
|
DE |
|
|
Assignee: |
OLYMPUS Winter & Ibe
GmbH
Hamburg
DE
|
Family ID: |
1000006064100 |
Appl. No.: |
17/550181 |
Filed: |
December 14, 2021 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 1/00163
20130101 |
International
Class: |
A61B 1/00 20060101
A61B001/00 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 30, 2020 |
DE |
10 2020 135 127.5 |
Claims
1. An actuator system for use in an optical system of an endoscope,
the actuator system comprising: at least one actuator; and a holder
for receiving at least one optical element of the optical system,
the holder is configured to be flat and extends in a holder plane,
the holder comprising: an outer enclosure; a leaf spring; and an
inner platform; wherein the outer enclosure at least partially
surrounds the leaf spring and the leaf spring at least partially
surrounds the inner platform, the outer enclosure is elastically
coupled to the inner platform via the leaf spring, the inner
platform is configured to receive the optical element, and the at
least one actuator interacts with the inner platform.
2. The actuator system according to claim 1, wherein the outer
enclosure is connected to the leaf spring by at least one first
solid state hinge and the leaf spring is connected to the inner
platform by at least one second solid state hinge.
3. The actuator system according to claim 2, wherein the at least
one first solid state hinge and the at least one second solid state
hinge are arranged offset from each other in the holder plane.
4. The actuator system according to claim 3, wherein the at least
one first solid state hinge is arranged offset from the at least
one second solid state hinge by 90.degree. along a holder
circumferential direction lying in the holder plane.
5. The actuator system according to claim 2, wherein the at least
one first solid state hinge comprises two first solid state hinges
and the at least one second solid state hinge comprises two second
solid state hinges.
6. The actuator system according to claim 5, wherein at least one
of the two first solid state hinges are arranged on opposite sides
of the leaf spring and the two second solid state hinges are
arranged on opposite sides of the leaf spring.
7. The actuator system according to claim 1, wherein the holder is
a single-piece component.
8. The actuator system according to claim 1, wherein a linear
operating direction of the at least one actuator projects
perpendicularly to the holder plane.
9. The actuator system according to claim 1, wherein the holder is
formed from one of a cold-rolled stainless steel sheet, an
amorphous metal, or a nickel-titanium alloy.
10. The actuator system according to claim 1, wherein the leaf
spring is mirror-symmetrical about a first mirror plane extending
through a center of the holder, the first mirror plane being
orthogonal to the holder plane.
11. The actuator system according to claim 10, wherein the leaf
spring is further mirror-symmetrical about a second mirror plane
extending through the center of the holder, the second mirror plane
being orthogonal to the holder plane and to the first mirror
plane.
12. The actuator system according to claim 1, wherein the at least
one actuator is fastened to the inner platform or to a component
fixed to the inner platform.
13. The actuator system according to claim 1, wherein the at least
one actuator is configured as at least one wire formed of a
shape-memory alloy, wherein the at least is one wire is coupled to
a rear side of the inner platform.
14. The actuator system according to claim 13, wherein the at least
one wire comprises two or more wires, each formed of the shape
memory alloy and each coupled to the rear side of the inner
platform.
15. The actuator system according to claim 13, further comprising
an insulator component fixed to the rear side of the inner
platform, wherein the at least one wire is fastened to the
insulator component.
16. The actuator system according to claim 15, further comprising a
holding device arranged proximally to the inner platform, wherein
each of two ends of the at least one wire are fixed to the holding
device, wherein each of the two ends are redirected to the holding
device by the insulator component.
17. The actuator system according to claim 13, further comprising a
cylindrical housing, wherein the holder is fixed to a first end of
the cylindrical, housing, and the at least one wire is guided
through the cylindrical housing and fixed to a second end of the
cylindrical housing.
18. The actuator system according to claim 17, further comprising
an end disk fixed to the second end of the housing, the at least
one wire being fixed to the end disk.
19. The actuator system according to claim 1, wherein a central
region of the inner platform has a cut-out.
20. An optical system for use in an endoscope, the optical system
comprising: an actuator system according to claim 1; and the at
least one optical element; wherein the outer enclosure of the
holder is fixed to a static part of the optical system and the
optical element is fixed to the inner platform of the holder.
21. The optical system according to claim 20, wherein the inner
platform has an indentation in which the optical element is
arranged so that an optically active face of the optical element
lies in the holder plane.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] The present application is based upon and claims the benefit
of priority from DE 10 2020 135 127.5 filed on Dec. 30, 2020, the
entire contents of which is incorporated herein by reference.
BACKGROUND
Field
[0002] The present disclosure relates generally to endoscopes and
more particularly to an actuator system for an optical system of an
endoscope and to an optical system for an endoscope.
Prior Art
[0003] In medical endoscopy, in addition to endoscopes with fixed
optical systems, systems that enable switching between two working
ranges, for example a near range and a is far range, are also
known. This is typically achieved by a translation or tilting of an
optical element by means of an actuator system.
[0004] In endoscopy, electromagnetic actuators, for example, are
used as actuator systems, in which actuators include a traveler
arranged in a tube of an endoscope which is moved axially by a
magnetic field.
[0005] In many cases, the mobile element in actuator systems is
guided in a fit. For this purpose, the fit must have mechanical
play. Especially if tilting the mobile element is necessary in
addition to a linear movement, this mechanical play must be
relatively large, which results, however, in it being guided
imprecisely. This has a disadvantageous effect on the image quality
of the optical system of the endoscope.
SUMMARY
[0006] An object is to provide an actuator system for an optical
system of an endoscope as well as an optical system for an
endoscope, in which an optical element can be moved relatively
within an optical system, precisely and with as little play as
possible.
[0007] Such object can be solved by an actuator system for an
optical system of an endoscope, comprising at least one actuator
and a holder for receiving at least one optical element of the
optical system, wherein the holder is configured to be flat and
extends in a holder plane, wherein the holder has an outer
enclosure, a leaf spring element, and an inner platform, wherein
the outer enclosure at least partially surrounds the leaf spring
element and the leaf spring element at least partially surrounds
the inner platform, wherein the outer enclosure is elastically
coupled to the inner platform by the leaf spring element, wherein
the inner platform is configured to receive the optical element,
and wherein the at least one actuator interacts with the inner
platform.
[0008] In the context of the present description, the term
"connect" refers to a direct connection between two components. The
term "couple," on the other hand, refers to either a direct or an
indirect connection between two components. An indirect connection
between two components is thus a connection via additional
components that are connected to each other.
[0009] The inner platform can be deflected and/or pivoted relative
to the outer enclosure by at least one actuator in that the outer
enclosure is coupled elastically to the inner platform via the leaf
spring element. In other words, both a linear deflection and a
tilting of the inner platform and thus of the optical element can
be realized by the holder. By mounting the inner platform via the
leaf spring element, an exceedingly precise guiding of the optical
element can advantageously be achieved.
[0010] The actuator can interact with the inner platform such that
it acts on the inner platform in order to deflect and/or tilt it.
The at least one actuator can be configured to exert a displacement
force on the inner platform. The holder can be configured to exert
a resetting force on the inner platform, which is opposite to the
displacement force. The at least one actuator can hold the inner
platform under pretension. As a result, the deflection can be
largely play-free. The at least one actuator can act on the inner
platform along a linear operating direction that is perpendicular
to the holder plane.
[0011] The outer enclosure can surround the leaf spring element,
viewed in the holder plane, at least in portions in a radially
peripheral manner. The outer enclosure can completely surround the
leaf spring element. The leaf spring element can surround the inner
platform, also viewed in the holder plane, at least in portions and
in a radially peripheral manner. The leaf spring element can
completely surround the inner platform.
[0012] According to one exemplary embodiment, in which the outer
enclosure only partially surrounds the leaf spring element,
existing cut-outs can be provided between the outer enclosure and
the leaf spring element, which cut-outs can extend between the
outer enclosure and the leaf spring element in a bar-shaped manner
on opposite sides. According to such an exemplary embodiment, the
outer enclosure can comprise a first part and an opposite second
part. According to another exemplary embodiment, in which the leaf
spring element only partially surrounds the inner platform,
additional cut-outs can be provided between the leaf spring element
and the inner platform, which cut-outs can also extend between the
leaf spring element and the inner platform in a bar-shaped manner
on opposite sides. These additional cut-outs can be arranged
rotated, for example, by 90.degree. in relation to the cut-outs.
According to such an exemplary embodiment, the leaf spring element
can comprise a first leaf spring part and an opposite second leaf
spring part.
[0013] The outer enclosure, the leaf spring element, and the inner
platform can be arranged concentrically to each other in the holder
plane. Concentric means that the geometric center point of the
outer enclosure, the leaf spring element, and the inner platform
coincide. The outer enclosure can be configured to be fixed to the
optical system. In the installed state of the actuator system, the
outer enclosure can be fixed without play on a static part of the
optical system.
[0014] According to one embodiment, the outer enclosure can have an
annular shape. Such a shape can be advantageous if the holder is to
be used, for example, in a cylindrical component. However, the
outer enclosure can have other shapes, for example, elliptical, or
rectangular.
[0015] According to an exemplary embodiment, the inner platform can
have the shape of a rectangle. The leaf spring element can have a
rectangular shape with rounded corners. According to other
embodiments, however, leaf spring elements and inner platforms can
have other shapes, for example, elliptical or circular.
[0016] The optical element can be, for example, a lens, a prism, a
mask, or an image sensor. The optical element is not a component of
the actuator system; the inner platform is only configured for
receiving the optical element.
[0017] The outer enclosure can be connected to the leaf spring
element exclusively by at least one first solid state hinge and the
leaf spring element can be connected to the inner platform
exclusively by at least one second solid state hinge.
[0018] With the solid state hinges, a completely play-free mounting
of the inner platform can be achieved. In this way, the occurrence
of reverse play or a slip-stick effect can be advantageously
prevented. The solid state hinges can be configured as planar
elements extending in the radial plane of the holder.
[0019] The at least one first solid state hinge and the at least
one second solid state hinge can be arranged offset from each other
in the holder plane, wherein the at least one first solid state
hinge can be arranged offset from the at least one second solid
state hinge by 90.degree. along a holder circumferential direction
lying in the holder plane.
[0020] The offset arrangement of the solid state hinges in the
holder plane can advantageously increase the length of a leaf
spring structure of the holder. The leaf spring structure can
comprise in this case the leaf spring element and the solid state
hinges and represents the part of the holder that couples the outer
enclosure to the inner platform. The holder circumferential
direction can be a direction in the holder plane running along the
perimeter of the holder.
[0021] The holder can have two first solid state hinges and two
second solid state hinges, wherein the first solid state hinges can
be arranged on opposite sides of the leaf spring element and/or the
second solid state hinges can be arranged on opposite sides of the
leaf spring element.
[0022] By providing two first solid state hinges and two second
solid state hinges in each case, the stability of the holder can be
increased and a high reset force can be achieved.
[0023] The holder can be a single-piece component.
[0024] In other words, the outer enclosure, the leaf spring
element, the inner platform, and the solid state hinges can be
formed from a single blank. With the design as a single-piece
component, the holder can be completely play-free with regard to a
deflection by the at least one actuator.
[0025] A linear operating direction of the at least one actuator
can project perpendicularly to the holder plane.
[0026] The linear operating direction can be a direction in which
the at least one actuator exerts a displacement force on the inner
platform. The linear operating direction can be parallel to an
optical axis of the optical system. In addition, at least one tilt
axis of the at least one actuator can lie in the holder plane.
[0027] The holder can be made from a cold-rolled stainless steel
sheet, an amorphous metal, or from a nickel-titanium alloy, such as
nitinol. It is also provided that the holder can be produced from
multiple of these materials, wherein different functional units or
portions, for example the outer enclosure, the leaf spring element,
and the inner platform, can be produced from different materials.
The use of nitinol can be advantageously used because such material
has a pseudoelasticity or superelasticity.
[0028] Cold-rolled stainless steel sheets have a high modulus of
elasticity. Amorphous metals have a very high modulus of elasticity
due to their non-crystalline structure. Due to the high moduli of
elasticity, the holders produced from these materials can have a
strong reset force. Strong reset forces can be advantageous for the
holder in order to realize the displacement paths of approx. 400
.mu.m that are typical in actuator systems of endoscopes. However,
considerably longer and shorter displacement paths can also be
realized by the actuator system. Work hardening of stainless steel
can increase the elastic range of the steel. A high elastic range
of the material of the holder can be advantageous, since all
deformations of the holder must be completely within the elastic
range of the material in order to avoid material fatigue of the
material.
[0029] The holder can have a material thickness of 50 .mu.m to 150
.mu.m, such as, about 100 .mu.m. This material thickness can
prevent the stresses in the holder from being too high when the
material is deformed. At the same time, the necessary stability of
the holder can be provided.
[0030] The leaf spring element can be mirror-symmetrical, wherein a
first mirror plane of the leaf spring element can run through a
center of the holder and is orthogonal to the holder plane, wherein
a second mirror plane of the leaf spring element can run through
the center of the holder and is orthogonal to the holder plane and
to the first mirror plane.
[0031] The symmetrical structure can facilitate a linear
translation of the inner platform. The entire holder can be
mirror-symmetrical.
[0032] The at least one actuator can be fastened to the inner
platform or to a component fixed to the inner platform.
[0033] The component fixed to the inner platform can be fastened to
the inner platform by a fastener directly or indirectly. The
actuator can act on the inner platform in that the displacement
force of the actuator acts on the inner platform via the
fastener.
[0034] The at least one actuator can be configured as at least one
wire, such as, three or four wires, made of a shape-memory alloy,
wherein the at least one wire can be coupled to a rear side of the
inner platform.
[0035] A wire made of a shape-memory alloy (SMA) can advantageously
take up only a small amount of space and has a low complexity, but
achieves large forces and long adjustment paths. By providing three
SMA wires, a deflection along the linear operating direction and a
tilting about two tilt axes can be enabled. Four wires can be
advantageous in the case of a rectangular inner platform when each
corner of the inner platform is coupled with one wire. When four
wires are used, a control system of the wires can be configured to
compensate for the theoretical redundancy, resulting from the four
wires, of the movement.
[0036] An insulator component can be fixed to the rear side of the
inner platform, wherein the at least one wire can be fastened to
the insulator component, wherein the insulator component can be
formed at least partially from a synthetic material, wherein the
insulator component can be soldered or screwed to the rear side of
the inner platform.
[0037] Since SMA wires can develop their actuator effect when an
electric current is conducted through them, it can be advantageous
if the at least one wire is insulated from the holder by the
insulator component. The insulator component can comprise of one or
more components. Making the insulator component out of synthetic
material can advantageously achieve the desired insulation. In
order to join an insulator component made of synthetic material
with the holder, such as, a 3D MID synthetic material can be used
for the insulator. In this case, a metal layer can be applied to
the synthetic material by a laser and electroplating and can then
be soldered to the holder. According to an alternative embodiment,
a metal component provided with a thread can be soldered, adhered,
or welded to the holder and the insulator component can be fastened
by the thread or a crimp connection.
[0038] Both ends of the at least one wire can be fixed to a holding
device, which can be arranged proximally to the inner platform,
wherein the at least one wire can be redirected at the insulator
component.
[0039] The at least one wire does not have to be fixed to the
holder or the insulator component, but only fastened there such
that it is redirected by approx. 180.degree.. Advantageously, the
force of the at least one wire acting as an actuator can be doubled
in this way. In addition, no electrical contact of the at least one
wire with the holder or the insulator component is necessary. The
wire can be hooked into a matching contour in the holder or the
insulator component or drawn through the contour. The term
"proximal" refers in the present case to the alignment of the
holder. In other words, the holding device is arranged to the rear
of the inner platform. The at least one wire can be electrically
contacted by the holding device.
[0040] According to one embodiment, the holder can be fixed to a
first end of a housing, such as a hollow cylindrical housing,
wherein the at least one wire can be guided through the housing and
fixed to a second end of the housing, such as an end disk of the
housing.
[0041] With the housing, a stable mounting of the at least one wire
can be advantageously achieved. A hollow cylindrical shape of the
housing can be advantageous in order to insert the housing into a
cylindrical component in the interior of the endoscope shaft. The
end disk can close in the second end of the housing. The at least
one wire can be electrically contacted by means of the end
disk.
[0042] The holding device, on which both ends of the at least one
wire are fixed, can be arranged on the second end of the housing,
wherein the holding device can be the end disk of the housing.
[0043] In this way, the at least one wire can be electrically
contacted on both ends by the holding device, such as, the end
disk.
[0044] A central region of the inner platform can have a
cut-out.
[0045] A cut-out in the central region of the inner platform can be
advantageous if, for example, a lens, a prism, or a mask is
provided as an optical element. The cut-out can be large enough not
to block the beam path of light bundles running through the optical
element.
[0046] According to one embodiment, the holder itself can be
configured as a mask for the optical element. In this case, the
holder can be blackened or made from a black material. According to
an alternative embodiment, the inner platform can be a complete
surface and has no cut-outs. This is practical, for example, if the
inner platform is configured for receiving an image sensor.
[0047] Such object can also be solved by an optical system for an
endoscope, comprising an actuator system according to one of the
embodiments described above, and an optical element, wherein the
outer enclosure of the holder is fixed to a static part of the
optical system and the optical element is fixed to the inner
platform of the holder.
[0048] The same or similar advantages as already explained above
with respect to the actuator system also apply to the optical
system. In the present case, the static part of the optical system
can be a component of the optical system that does not move when
the actuator system is deflected. The outer enclosure can be fixed
without play to the static part of the optical system.
[0049] The optical element can be soldered or adhered to the
holder. The optical element can have a flat face perpendicular to
the linear operating direction of the actuator. This can facilitate
the fastening of the optical element to the holder.
[0050] The inner platform can have an indentation, in which the
optical element can be arranged so that an optically active face of
the optical element can lie in the holder plane.
[0051] The optically active face can be, for example, an active
face of an image sensor or a primary plane of a lens. By the
indentation, the active face can be aligned parallel to the holder
plane. This can advantageously reduce or completely avoid a
parallax error, which would otherwise occur when tilting the
optical element.
[0052] The indentation can be produced by deep drawing.
Alternatively, the indentation can project completely through the
inner platform, in which a separate component can be received which
holds the optical element. The separate component can create a
guide, for example with a hollow cylindrical shape, that holds the
optical element or a frame of the optical element precisely and
securely.
BRIEF DESCRIPTION OF THE DRAWINGS
[0053] Further features will become apparent from the description
of the embodiments together with the claims and the attached
drawings. Embodiments can fulfill individual features or a
combination of several features.
[0054] The embodiments are described below, without restricting the
general idea of the invention, based on exemplary embodiments in
reference to the drawings, whereby we expressly refer to the
drawings with regard to details that are not explained in greater
detail in the text. In the figures:
[0055] FIG. 1 illustrates a schematically simplified illustration
of an endoscope,
[0056] FIG. 2 illustrates a schematically simplified illustration
of a holder for an optical element,
[0057] FIG. 3 illustrates a schematically simplified perspective
illustration of a holder for an optical element having an insulator
component and four SMA wires,
[0058] FIG. 4 illustrates a schematically simplified perspective
illustration of a fastener for an insulator component on a holder
by means of a screw,
[0059] FIG. 5 illustrates a schematically simplified illustration
of a hollow cylindrical housing of an actuator system,
[0060] FIG. 6 illustrates a schematically simplified perspective
illustration of a hollow cylindrical housing of an actuator system
on the rear side of the housing,
[0061] FIG. 7 illustrates a schematically simplified perspective
illustration of an image sensor as well as a holder for the image
sensor with an indentation for receiving the image sensor, and
[0062] FIG. 8 illustrates a schematically simplified perspective
illustration of a holder with a cut-out in a central region of the
inner platform.
[0063] In the drawings, the same or similar elements and/or parts
are provided with the same reference numbers; a reintroduction will
therefore be omitted.
DETAILED DESCRIPTION
[0064] FIG. 1 shows, schematically simplified, an endoscope 2 in a
perspective illustration. The endoscope 2 comprises a handle 8 and
a shaft 4, configured to be inserted into the interior of a
patient's body. In the interior of the shaft 4, an optical system 5
of the endoscope 2 is arranged, for observing a space lying in
front of the distal end 6 of the endoscope 2. Such observation
occurs through a series of optical elements of the optical system
5, such as lenses, prisms, and image sensors, which capture image
information and transmit it in a proximal direction.
[0065] For some medical procedures using the endoscope 2, it is
advantageous when the user can switch the endoscope 2 between two
different working ranges, for example a near range and a far range,
so that regions of the interior of the body lying directly in front
of the distal end 6 as well as regions lying farther away can be
observed with high image quality. To enable switching between two
working ranges, some endoscopes 2 comprise an actuator system, for
moving one or more of the optical elements of the optical system
5.
[0066] FIG. 2 shows, schematically simplified, an exemplary
embodiment of a holder 9 of an actuator system. The holder 9
comprises an outer enclosure 10, a leaf spring element 20, and an
inner platform 30. The inner platform 30 is configured to receive
the optical element to be moved. The outer enclosure 10 is fixed to
a static part of the optical system 5.
[0067] In the embodiment shown, the outer enclosure 10 is annular
and surrounds the leaf spring element 20 completely in a holder
plane 80. In FIG. 2, the holder plane 80 lies in the plane of the
image, as indicated by the two arrows arranged orthogonally to each
other. The outer enclosure 10 is connected to the leaf spring
element 20 by two first solid state hinges 15, which are arranged
on opposite sides of the leaf spring element 20. The leaf spring
element 20 is in turn connected to the inner platform 30 by means
of two second solid state hinges 25. The two second solid state
hinges 25 are also arranged on opposite sides of the leaf spring
element 20 and offset by 90.degree. to the first solid state hinges
15 in the holder plane 80. As a result, a mirror symmetry of the
leaf spring element 20 and the entire holder 9 results, with a
first mirror plane 84 and a second mirror plane 86, each shown by
dashed lines, which are orthogonal to each other and to the holder
plane 80.
[0068] The inner platform 30 interacts with at least one actuator,
which is not shown in FIG. 2. This at least one actuator exerts a
displacement force on the inner platform 30 in order to change the
position and alignment of the inner platform 30, or respectively of
the optical element, in relation to the outer enclosure 10 or
respectively the optical system 5. A reset force opposite to the
displacement force is exerted by the leaf spring element 20 and the
solid state hinges 15, 25, which together form a leaf spring
structure. Due to this reset force, the inner platform 30 and thus
also the optical element is brought back to its starting position
once the displacement force is no longer exerted on the inner
platform 30.
[0069] The holder 9 shown is completely free of play. For this
purpose, the holder 9 can be produced from a single component. A
cold-rolled stainless steel sheet or amorphous metals can be
suitable materials for the holder 9 since they have a high modulus
of elasticity and develop high reset forces and at the same time
have a large elastic range.
[0070] FIG. 3 shows, schematically simplified, an exemplary
embodiment of a coupling, which connects the holder 9 to the at
least one actuator 52. In this embodiment, an insulator component
40 is fixed to a rear side 32 of the inner platform 30. The
insulator component 40 has a series of indentations or contours 42,
in which wires 50 made of a shape-memory alloy (SMA) are guided.
The SMA wires 50 are the actuators 52 of the actuator system. They
are not firmly fixed to the insulator component 40 but are merely
redirected on it by being guided through the contours 42. FIG. 3
shows a total of four wires 50 redirected in this manner, each with
two wire ends. To deflect the inner platform 30, an electric
current is conducted through the wires 50. This leads to a heating
of the wires 50, which then contract, causing a displacement force
to be exerted on the insulator component 40 and thus on the inner
platform 30. By correspondingly activating the wires 50 acting as
actuators 52, the inner platform 30 can be both deflected
perpendicularly to the holder plane 80 in a linear operating
direction 82 and tilted in relation to the holder plane 80. The
insulator component 40 is produced from an insulating material in
order to electrically shield the wires 50 from each other and from
the holder 9.
[0071] FIG. 4 shows, schematically simplified, another embodiment
of an insulator component 40 in a cross-sectional view. The
insulator component 40 shown in FIG. 4 comprises an insulated wire
mount 44, an adapter 46 with a thread, and a screw 48. The adapter
46 is produced, for example, from a metal and soldered to the rear
side 32 of the inner platform 30. The insulated wire mount 44,
which is produced, for example, from a synthetic material, is
placed onto the adapter 46 and then fixed by means of the screw
48.
[0072] FIG. 5 shows, schematically simplified, an actuator system 7
that comprises the holder 9 from FIG. 2. The holder 9 is fixed to a
first end 64 of a hollow cylindrical housing 60. The SMA wires 50
acting as actuators 52, which are fixed, for example, by means of a
mount according to FIG. 3 or FIG. 4, to the rear side 9 of the
holder, are guided through the interior of the housing 60 and fixed
with both ends to a holding device 61 that is arranged on the
second end 66 of the housing. In the embodiment shown, the holding
device 61 is an end disk 62 of the housing 60.
[0073] In FIG. 6, the housing 60 from FIG. 5 is shown,
schematically simplified, in a perspective view, in which the end
disk 62 can easily be seen. The end disk 62 comprises an electrical
contact 68, by means of which the wires 50 are supplied with
electric current.
[0074] FIG. 7 shows, schematically simplified, an embodiment of a
holder 9 that comprises an inner platform 30 with an indentation 36
on its front side 34. The indentation 36 is produced, for example,
by deep drawing. An optical element 70, for example the image
sensor 72 shown in FIG. 7, is inserted into the indentation 36.
This enables that an active face 74 of the optical element 70 lies
in the holder plane 80. In this way, a parallax error that could
occur when tilting the optical element 70 is reduced or completely
avoided.
[0075] FIG. 8 shows another exemplary embodiment of a holder 9 that
has a cutout 38 in a central region of the inner platform 30. Such
a cut-out 38 is practical when, for example, a lens is fixed to the
inner platform 30, in order not to impair the beam path of light
bundles running through the lens. Another component (not shown)
that holds the optical element 70 can also be inserted into the
cut-out 38. In this way, a secure hold of the optical element 70 is
achieved. According to another embodiment, it is provided that the
holder 9 is blackened or produced from a black material. In this
case, the inner platform 30 with the cut-out 38 forms a deflectable
mask for the optical system 5.
[0076] While there has been shown and described what is considered
to be embodiments of the invention, it will, of course, be
understood that various modifications and changes in form or detail
could readily be made without departing from the spirit of the
invention. It is therefore intended that the invention be not
limited to the exact forms described and illustrated, but should be
constructed to cover all modifications that may fall within the
scope of the appended claims.
LIST OF REFERENCE NUMBERS
[0077] 2 Endoscope [0078] 4 Shaft [0079] 5 Optical system [0080] 6
Distal end [0081] 7 Actuator system [0082] 8 Handle [0083] 9 Holder
[0084] 10 Outer enclosure [0085] 15 First solid state hinge [0086]
20 Leaf spring element [0087] 25 Second solid state hinge [0088] 30
Inner platform [0089] 32 Rear side [0090] 34 Front side [0091] 36
Indentation [0092] 38 Cut-out [0093] 40 Insulator component [0094]
42 Contour [0095] 44 Insulated wire mount [0096] 46 Adapter [0097]
48 Screw [0098] 50 Wire [0099] 52 Actuator [0100] 60 Housing [0101]
61 Holding device [0102] 62 End disk [0103] 64 First end [0104] 66
Second end [0105] 68 Electrical contact [0106] 70 Optical element
[0107] 72 Image sensor [0108] 74 Active face [0109] 80 Holder plane
[0110] 82 Linear operating direction [0111] 84 First mirror
plane
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